46 lines
2.1 KiB
Python
46 lines
2.1 KiB
Python
# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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from dataclasses import dataclass, field
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from lerobot.common.cameras import CameraConfig
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from ..config import RobotConfig
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@RobotConfig.register_subclass("viperx")
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@dataclass
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class ViperXConfig(RobotConfig):
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port: str # Port to connect to the arm
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disable_torque_on_disconnect: bool = True
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# /!\ FOR SAFETY, READ THIS /!\
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# `max_relative_target` limits the magnitude of the relative positional target vector for safety purposes.
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# Set this to a positive scalar to have the same value for all motors, or a list that is the same length as
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# the number of motors in your follower arms.
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# For Aloha, for every goal position request, motor rotations are capped at 5 degrees by default.
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# When you feel more confident with teleoperation or running the policy, you can extend
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# this safety limit and even removing it by setting it to `null`.
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# Also, everything is expected to work safely out-of-the-box, but we highly advise to
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# first try to teleoperate the grippers only (by commenting out the rest of the motors in this yaml),
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# then to gradually add more motors (by uncommenting), until you can teleoperate both arms fully
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max_relative_target: int | None = 5
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# cameras
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cameras: dict[str, CameraConfig] = field(default_factory=dict)
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# Troubleshooting: If one of your IntelRealSense cameras freeze during
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# data recording due to bandwidth limit, you might need to plug the camera
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# on another USB hub or PCIe card.
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